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<div class="title">organized_fast_mesh.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2011, Dirk Holz (University of Bonn)</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_SURFACE_ORGANIZED_FAST_MESH_HPP_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_SURFACE_ORGANIZED_FAST_MESH_HPP_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/organized_fast_mesh.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_fast_mesh.html#ad9d74d4e6627057633ab3d4afb2b14ca">   48</a></span>&#160;<a class="code" href="classpcl_1_1_organized_fast_mesh.html#af66bbf2fa9e28aebd2af2e308bf140da">pcl::OrganizedFastMesh&lt;PointInT&gt;::performReconstruction</a> (<a class="code" href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a> &amp;output)</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  reconstructPolygons (output.polygons);</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="comment">// Get the field names</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keywordtype">int</span> x_idx = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (output.cloud, <span class="stringliteral">&quot;x&quot;</span>);</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keywordtype">int</span> y_idx = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (output.cloud, <span class="stringliteral">&quot;y&quot;</span>);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keywordtype">int</span> z_idx = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (output.cloud, <span class="stringliteral">&quot;z&quot;</span>);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keywordflow">if</span> (x_idx == -1 || y_idx == -1 || z_idx == -1)</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="comment">// correct all measurements,</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="comment">// (running over complete image since some rows and columns are left out</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="comment">// depending on triangle_pixel_size)</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="comment">// avoid to do that here (only needed for ASCII mesh file output, e.g., in vtk files</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; input_-&gt;points.size (); ++i)</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keywordflow">if</span> (!isFinite (input_-&gt;points[i]))</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      resetPointData (i, output, 0.0f, x_idx, y_idx, z_idx);</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;}</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_fast_mesh.html#af66bbf2fa9e28aebd2af2e308bf140da">   69</a></span>&#160;<a class="code" href="classpcl_1_1_organized_fast_mesh.html#af66bbf2fa9e28aebd2af2e308bf140da">pcl::OrganizedFastMesh&lt;PointInT&gt;::performReconstruction</a> (std::vector&lt;pcl::Vertices&gt; &amp;polygons)</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;{</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  reconstructPolygons (polygons);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;}</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_fast_mesh.html#a5fee6d23c77a2e4f193d2707d94ca2cd">   76</a></span>&#160;<a class="code" href="classpcl_1_1_organized_fast_mesh.html#a5fee6d23c77a2e4f193d2707d94ca2cd">pcl::OrganizedFastMesh&lt;PointInT&gt;::reconstructPolygons</a> (std::vector&lt;pcl::Vertices&gt; &amp;polygons)</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;{</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keywordflow">if</span> (triangulation_type_ == TRIANGLE_RIGHT_CUT)</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    makeRightCutMesh (polygons);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (triangulation_type_ == TRIANGLE_LEFT_CUT)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    makeLeftCutMesh (polygons);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (triangulation_type_ == TRIANGLE_ADAPTIVE_CUT)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    makeAdaptiveCutMesh (polygons);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (triangulation_type_ == QUAD_MESH)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    makeQuadMesh (polygons);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;}</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_fast_mesh.html#a370af0c043d7324913d00721461fede0">   90</a></span>&#160;<a class="code" href="classpcl_1_1_organized_fast_mesh.html#a370af0c043d7324913d00721461fede0">pcl::OrganizedFastMesh&lt;PointInT&gt;::makeQuadMesh</a> (std::vector&lt;pcl::Vertices&gt;&amp; polygons)</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;{</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keywordtype">int</span> last_column = input_-&gt;width - triangle_pixel_size_columns_;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keywordtype">int</span> last_row = input_-&gt;height - triangle_pixel_size_rows_;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keywordtype">int</span> i = 0, index_down = 0, index_right = 0, index_down_right = 0, idx = 0;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keywordtype">int</span> y_big_incr = triangle_pixel_size_rows_ * input_-&gt;width,</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      x_big_incr = y_big_incr + triangle_pixel_size_columns_;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="comment">// Reserve enough space</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  polygons.resize (input_-&gt;width * input_-&gt;height);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="comment">// Go over the rows first</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y = 0; y &lt; last_row; y += triangle_pixel_size_rows_)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  {</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="comment">// Initialize a new row</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    i = y * input_-&gt;width;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    index_right = i + triangle_pixel_size_columns_;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    index_down = i + y_big_incr;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    index_down_right = i + x_big_incr;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="comment">// Go over the columns</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x = 0; x &lt; last_column; x += triangle_pixel_size_columns_,</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                                     i += triangle_pixel_size_columns_,</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                                     index_right += triangle_pixel_size_columns_,</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;                                     index_down += triangle_pixel_size_columns_,</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;                                     index_down_right += triangle_pixel_size_columns_)</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    {</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <span class="keywordflow">if</span> (isValidQuad (i, index_right, index_down_right, index_down))</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <span class="keywordflow">if</span> (store_shadowed_faces_ || !isShadowedQuad (i, index_right, index_down_right, index_down))</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;          addQuad (i, index_right, index_down_right, index_down, idx++, polygons);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    }</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  polygons.resize (idx);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;}</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_fast_mesh.html#a104c0c0b8d68a948db79edda93a6abf5">  127</a></span>&#160;<a class="code" href="classpcl_1_1_organized_fast_mesh.html#a104c0c0b8d68a948db79edda93a6abf5">pcl::OrganizedFastMesh&lt;PointInT&gt;::makeRightCutMesh</a> (std::vector&lt;pcl::Vertices&gt;&amp; polygons)</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;{</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <span class="keywordtype">int</span> last_column = input_-&gt;width - triangle_pixel_size_columns_;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="keywordtype">int</span> last_row = input_-&gt;height - triangle_pixel_size_rows_;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keywordtype">int</span> i = 0, index_down = 0, index_right = 0, index_down_right = 0, idx = 0;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="keywordtype">int</span> y_big_incr = triangle_pixel_size_rows_ * input_-&gt;width,</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      x_big_incr = y_big_incr + triangle_pixel_size_columns_;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="comment">// Reserve enough space</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  polygons.resize (input_-&gt;width * input_-&gt;height * 2);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="comment">// Go over the rows first</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y = 0; y &lt; last_row; y += triangle_pixel_size_rows_)</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  {</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="comment">// Initialize a new row</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    i = y * input_-&gt;width;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    index_right = i + triangle_pixel_size_columns_;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    index_down = i + y_big_incr;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    index_down_right = i + x_big_incr;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="comment">// Go over the columns</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x = 0; x &lt; last_column; x += triangle_pixel_size_columns_,</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;                                     i += triangle_pixel_size_columns_,</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;                                     index_right += triangle_pixel_size_columns_,</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                                     index_down += triangle_pixel_size_columns_,</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;                                     index_down_right += triangle_pixel_size_columns_)</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    {</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <span class="keywordflow">if</span> (isValidTriangle (i, index_down_right, index_right))</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <span class="keywordflow">if</span> (store_shadowed_faces_ || !isShadowedTriangle (i, index_down_right, index_right))</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;          addTriangle (i, index_down_right, index_right, idx++, polygons);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <span class="keywordflow">if</span> (isValidTriangle (i, index_down, index_down_right))</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        <span class="keywordflow">if</span> (store_shadowed_faces_ || !isShadowedTriangle (i, index_down, index_down_right))</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;          addTriangle (i, index_down, index_down_right, idx++, polygons);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    }</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  }</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  polygons.resize (idx);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;}</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_fast_mesh.html#af5df7632921a3a688a1b896f18199a3d">  168</a></span>&#160;<a class="code" href="classpcl_1_1_organized_fast_mesh.html#af5df7632921a3a688a1b896f18199a3d">pcl::OrganizedFastMesh&lt;PointInT&gt;::makeLeftCutMesh</a> (std::vector&lt;pcl::Vertices&gt;&amp; polygons)</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;{</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <span class="keywordtype">int</span> last_column = input_-&gt;width - triangle_pixel_size_columns_;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <span class="keywordtype">int</span> last_row = input_-&gt;height - triangle_pixel_size_rows_;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  <span class="keywordtype">int</span> i = 0, index_down = 0, index_right = 0, index_down_right = 0, idx = 0;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  <span class="keywordtype">int</span> y_big_incr = triangle_pixel_size_rows_ * input_-&gt;width,</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      x_big_incr = y_big_incr + triangle_pixel_size_columns_;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  <span class="comment">// Reserve enough space</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  polygons.resize (input_-&gt;width * input_-&gt;height * 2);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="comment">// Go over the rows first</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y = 0; y &lt; last_row; y += triangle_pixel_size_rows_)</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  {</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="comment">// Initialize a new row</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    i = y * input_-&gt;width;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    index_right = i + triangle_pixel_size_columns_;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    index_down = i + y_big_incr;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    index_down_right = i + x_big_incr;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="comment">// Go over the columns</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x = 0; x &lt; last_column; x += triangle_pixel_size_columns_,</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;                                     i += triangle_pixel_size_columns_,</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;                                     index_right += triangle_pixel_size_columns_,</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;                                     index_down += triangle_pixel_size_columns_,</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;                                     index_down_right += triangle_pixel_size_columns_)</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    {</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <span class="keywordflow">if</span> (isValidTriangle (i, index_down, index_right))</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        <span class="keywordflow">if</span> (store_shadowed_faces_ || !isShadowedTriangle (i, index_down, index_right))</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;          addTriangle (i, index_down, index_right, idx++, polygons);</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <span class="keywordflow">if</span> (isValidTriangle (index_right, index_down, index_down_right))</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <span class="keywordflow">if</span> (store_shadowed_faces_ || !isShadowedTriangle (index_right, index_down, index_down_right))</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;          addTriangle (index_right, index_down, index_down_right, idx++, polygons);</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    }</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  }</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  polygons.resize (idx);</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;}</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_fast_mesh.html#ae78e35fa74dac20aa4705cd793f00d1d">  209</a></span>&#160;<a class="code" href="classpcl_1_1_organized_fast_mesh.html#ae78e35fa74dac20aa4705cd793f00d1d">pcl::OrganizedFastMesh&lt;PointInT&gt;::makeAdaptiveCutMesh</a> (std::vector&lt;pcl::Vertices&gt;&amp; polygons)</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;{</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  <span class="keywordtype">int</span> last_column = input_-&gt;width - triangle_pixel_size_columns_;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <span class="keywordtype">int</span> last_row = input_-&gt;height - triangle_pixel_size_rows_;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <span class="keywordtype">int</span> i = 0, index_down = 0, index_right = 0, index_down_right = 0, idx = 0;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  <span class="keywordtype">int</span> y_big_incr = triangle_pixel_size_rows_ * input_-&gt;width,</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      x_big_incr = y_big_incr + triangle_pixel_size_columns_;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  <span class="comment">// Reserve enough space</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  polygons.resize (input_-&gt;width * input_-&gt;height * 2);</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <span class="comment">// Go over the rows first</span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y = 0; y &lt; last_row; y += triangle_pixel_size_rows_)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  {</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    <span class="comment">// Initialize a new row</span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    i = y * input_-&gt;width;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    index_right = i + triangle_pixel_size_columns_;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    index_down = i + y_big_incr;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    index_down_right = i + x_big_incr;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    <span class="comment">// Go over the columns</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x = 0; x &lt; last_column; x += triangle_pixel_size_columns_,</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;                                     i += triangle_pixel_size_columns_,</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;                                     index_right += triangle_pixel_size_columns_,</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;                                     index_down += triangle_pixel_size_columns_,</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;                                     index_down_right += triangle_pixel_size_columns_)</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    {</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">bool</span> right_cut_upper = isValidTriangle (i, index_down_right, index_right);</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">bool</span> right_cut_lower = isValidTriangle (i, index_down, index_down_right);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">bool</span> left_cut_upper = isValidTriangle (i, index_down, index_right);</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">bool</span> left_cut_lower = isValidTriangle (index_right, index_down, index_down_right);</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      <span class="keywordflow">if</span> (right_cut_upper &amp;&amp; right_cut_lower &amp;&amp; left_cut_upper &amp;&amp; left_cut_lower)</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      {</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        <span class="keywordtype">float</span> dist_right_cut = fabsf (input_-&gt;points[index_down].z - input_-&gt;points[index_right].z);</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        <span class="keywordtype">float</span> dist_left_cut = fabsf (input_-&gt;points[i].z - input_-&gt;points[index_down_right].z);</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        <span class="keywordflow">if</span> (dist_right_cut &gt;= dist_left_cut)</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        {</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;          <span class="keywordflow">if</span> (store_shadowed_faces_ || !isShadowedTriangle (i, index_down_right, index_right))</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;            addTriangle (i, index_down_right, index_right, idx++, polygons);</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;          <span class="keywordflow">if</span> (store_shadowed_faces_ || !isShadowedTriangle (i, index_down, index_down_right))</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;            addTriangle (i, index_down, index_down_right, idx++, polygons);</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        }</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        {</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;          <span class="keywordflow">if</span> (store_shadowed_faces_ || !isShadowedTriangle (i, index_down, index_right))</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;            addTriangle (i, index_down, index_right, idx++, polygons);</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;          <span class="keywordflow">if</span> (store_shadowed_faces_ || !isShadowedTriangle (index_right, index_down, index_down_right))</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;            addTriangle (index_right, index_down, index_down_right, idx++, polygons);</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        }</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      }</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      {</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        <span class="keywordflow">if</span> (right_cut_upper)</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;          <span class="keywordflow">if</span> (store_shadowed_faces_ || !isShadowedTriangle (i, index_down_right, index_right))</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;            addTriangle (i, index_down_right, index_right, idx++, polygons);</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        <span class="keywordflow">if</span> (right_cut_lower)</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;          <span class="keywordflow">if</span> (store_shadowed_faces_ || !isShadowedTriangle (i, index_down, index_down_right))</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;            addTriangle (i, index_down, index_down_right, idx++, polygons);</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;        <span class="keywordflow">if</span> (left_cut_upper)</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;          <span class="keywordflow">if</span> (store_shadowed_faces_ || !isShadowedTriangle (i, index_down, index_right))</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;            addTriangle (i, index_down, index_right, idx++, polygons);</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;        <span class="keywordflow">if</span> (left_cut_lower)</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;          <span class="keywordflow">if</span> (store_shadowed_faces_ || !isShadowedTriangle (index_right, index_down, index_down_right))</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;            addTriangle (index_right, index_down, index_down_right, idx++, polygons);</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      }</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    }</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  }</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  polygons.resize (idx);</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;}</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_OrganizedFastMesh(T)                \</span></div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;<span class="preprocessor">  template class PCL_EXPORTS pcl::OrganizedFastMesh&lt;T&gt;;</span></div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// PCL_SURFACE_ORGANIZED_FAST_MESH_HPP_</span></div>
<div class="ttc" id="aclasspcl_1_1_organized_fast_mesh_html_a104c0c0b8d68a948db79edda93a6abf5"><div class="ttname"><a href="classpcl_1_1_organized_fast_mesh.html#a104c0c0b8d68a948db79edda93a6abf5">pcl::OrganizedFastMesh::makeRightCutMesh</a></div><div class="ttdeci">void makeRightCutMesh(std::vector&lt; pcl::Vertices &gt; &amp;polygons)</div><div class="ttdoc">Create a right cut mesh.</div><div class="ttdef"><b>Definition:</b> organized_fast_mesh.hpp:127</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_fast_mesh_html_a370af0c043d7324913d00721461fede0"><div class="ttname"><a href="classpcl_1_1_organized_fast_mesh.html#a370af0c043d7324913d00721461fede0">pcl::OrganizedFastMesh::makeQuadMesh</a></div><div class="ttdeci">void makeQuadMesh(std::vector&lt; pcl::Vertices &gt; &amp;polygons)</div><div class="ttdoc">Create a quad mesh.</div><div class="ttdef"><b>Definition:</b> organized_fast_mesh.hpp:90</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_fast_mesh_html_a5fee6d23c77a2e4f193d2707d94ca2cd"><div class="ttname"><a href="classpcl_1_1_organized_fast_mesh.html#a5fee6d23c77a2e4f193d2707d94ca2cd">pcl::OrganizedFastMesh::reconstructPolygons</a></div><div class="ttdeci">void reconstructPolygons(std::vector&lt; pcl::Vertices &gt; &amp;polygons)</div><div class="ttdoc">Perform the actual polygonal reconstruction.</div><div class="ttdef"><b>Definition:</b> organized_fast_mesh.hpp:76</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_fast_mesh_html_ae78e35fa74dac20aa4705cd793f00d1d"><div class="ttname"><a href="classpcl_1_1_organized_fast_mesh.html#ae78e35fa74dac20aa4705cd793f00d1d">pcl::OrganizedFastMesh::makeAdaptiveCutMesh</a></div><div class="ttdeci">void makeAdaptiveCutMesh(std::vector&lt; pcl::Vertices &gt; &amp;polygons)</div><div class="ttdoc">Create an adaptive cut mesh.</div><div class="ttdef"><b>Definition:</b> organized_fast_mesh.hpp:209</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_fast_mesh_html_af5df7632921a3a688a1b896f18199a3d"><div class="ttname"><a href="classpcl_1_1_organized_fast_mesh.html#af5df7632921a3a688a1b896f18199a3d">pcl::OrganizedFastMesh::makeLeftCutMesh</a></div><div class="ttdeci">void makeLeftCutMesh(std::vector&lt; pcl::Vertices &gt; &amp;polygons)</div><div class="ttdoc">Create a left cut mesh.</div><div class="ttdef"><b>Definition:</b> organized_fast_mesh.hpp:168</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_fast_mesh_html_af66bbf2fa9e28aebd2af2e308bf140da"><div class="ttname"><a href="classpcl_1_1_organized_fast_mesh.html#af66bbf2fa9e28aebd2af2e308bf140da">pcl::OrganizedFastMesh::performReconstruction</a></div><div class="ttdeci">virtual void performReconstruction(std::vector&lt; pcl::Vertices &gt; &amp;polygons)</div><div class="ttdoc">Create the surface.</div><div class="ttdef"><b>Definition:</b> organized_fast_mesh.hpp:69</div></div>
<div class="ttc" id="agroup__common_html_ga2bc4b9a4e25de1d0b00db4e41f0ad682"><div class="ttname"><a href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a></div><div class="ttdeci">int getFieldIndex(const pcl::PCLPointCloud2 &amp;cloud, const std::string &amp;field_name)</div><div class="ttdoc">Get the index of a specified field (i.e., dimension/channel)</div><div class="ttdef"><b>Definition:</b> io.h:59</div></div>
<div class="ttc" id="astructpcl_1_1_polygon_mesh_html"><div class="ttname"><a href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a></div><div class="ttdef"><b>Definition:</b> PolygonMesh.h:16</div></div>
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